ROS Noetic Development Branch

This is a development branch that we are using to port stretch_ros to ROS Noetic, Python 3, and Ubuntu 20.04. We plan to begin shipping this version preinstalled on Stretch RE1 robots at the end of the summer of 2021. It is in a usable state, but has known limitations that we've listed below. It is also unstable, since we are actively conducting development in this branch. Since we have performed limited testing, you may encounter unexpected behaviors. Also, installation requires Ubuntu 20.04 on a second partition of your robot's hard drive.

We are beginning to use this port internally at Hello Robot to test it, improve it, and add new capabilities. We also anticipate that some customers will begin working with this development branch. If you wish to try it, please see the installation guide. Both this branch and the installation guide are under active development. Please proceed with caution.

Please file issues here and ask general questions on the forum.

Known Issues

• The deep perception demos won't work with a default installation, since they require OpenCV compiled with OpenVINO.
• There is no support for the Respeaker Microphone Array.

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Directories

The stretch_ros repository holds ROS related code for the Stretch RE1 mobile manipulator from Hello Robot Inc. For an overview of the capabilities in this repository, we recommend you look at the following forum post: https://forum.hello-robot.com/t/autonomy-video-details

Resource	Description
hello_helpers	Miscellaneous helper code used across the stretch_ros repository
stretch_calibration	Creates and updates calibrated URDFs for the Stretch RE1
stretch_core	Enables basic use of the Stretch RE1 from ROS
stretch_deep_perception	Demonstrations that use open deep learning models to perceive the world
stretch_demos	Demonstrations of simple autonomous manipulation
stretch_description	Generate and export URDFs
stretch_funmap	Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
stretch_gazebo	Support for simulation of Stretch in the Gazebo simulator
stretch_moveit_config	Config files to use Stretch with the MoveIt Motion Planning Framework
stretch_navigation	Support for the ROS navigation stack, including move_base, gmapping, and AMCL
stretch_octomap	Support for mapping using OctoMap: efficient probabilistic 3D Mapping based on Octrees
stretch_rtabmap	Support for mapping using Real-Time Appearance-Based Mapping (RTAB-Map)

Licenses

This software is intended for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. For further information, including inquiries about dual licensing, please contact Hello Robot Inc.

For license details for this repository, see the LICENSE files found in the directories. A summary of the licenses follows:

Directory	License
hello_helpers	Apache 2.0
stretch_calibration	GPLv3
stretch_core	Apache 2.0
stretch_deep_perception	Apache 2.0
stretch_demos	Apache 2.0
stretch_description	BSD 3-Clause Clear License
stretch_funmap	LGPLv3
stretch_gazebo	Apache 2.0
stretch_moveit_config	Apache 2.0
stretch_navigation	Apache 2.0
stretch_octomap	Apache 2.0
stretch_rtabmap	Apache 2.0